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[pre-commit.ci] auto fixes from pre-commit.com hooks

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for more information, see https://pre-commit.ci
This commit is contained in:
pre-commit-ci[bot]
2025-03-24 13:16:38 +00:00
committed by AdilZouitine
parent 761a2dbcb3
commit 8e6d5f504c
97 changed files with 1596 additions and 492 deletions
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lerobot/scripts/server/end_effector_control_utils.py
+4 -4
View File
@@ -480,7 +480,7 @@ def test_forward_kinematics(robot, fps=10):
obs = robot.capture_observation()
joint_positions = obs["observation.state"].cpu().numpy()
ee_pos = RobotKinematics.fk_gripper_tip(joint_positions)
logging.info(f"EE Position: {ee_pos[:3,3]}")
logging.info(f"EE Position: {ee_pos[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))
@@ -519,7 +519,7 @@ def teleoperate_inverse_kinematics_with_leader(robot, fps=10):
joint_positions, desired_ee_pos, position_only=True, fk_func=fk_func
)
robot.send_action(torch.from_numpy(target_joint_state))
logging.info(f"Leader EE: {leader_ee[:3,3]}, Follower EE: {ee_pos[:3,3]}")
logging.info(f"Leader EE: {leader_ee[:3, 3]}, Follower EE: {ee_pos[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))
@@ -574,9 +574,9 @@ def teleoperate_delta_inverse_kinematics_with_leader(robot, fps=10):
# Logging
logging.info(
f"Current EE: {current_ee_pos[:3,3]}, Desired EE: {desired_ee_pos[:3,3]}"
f"Current EE: {current_ee_pos[:3, 3]}, Desired EE: {desired_ee_pos[:3, 3]}"
)
logging.info(f"Delta EE: {ee_delta[:3,3]}")
logging.info(f"Delta EE: {ee_delta[:3, 3]}")
busy_wait(1 / fps - (time.perf_counter() - loop_start_time))
lerobot/scripts/server/gym_manipulator.py
+4 -4
View File
@@ -1087,9 +1087,9 @@ class GamepadControlWrapper(gym.Wrapper):
class ActionScaleWrapper(gym.ActionWrapper):
def __init__(self, env, ee_action_space_params=None):
super().__init__(env)
assert (
ee_action_space_params is not None
), "TODO: method implemented for ee action space only so far"
assert ee_action_space_params is not None, (
"TODO: method implemented for ee action space only so far"
)
self.scale_vector = np.array(
[
[
@@ -1546,4 +1546,4 @@ if __name__ == "__main__":
busy_wait(1 / args.fps - dt_s)
logging.info(f"Success after 20 steps {sucesses}")
logging.info(f"success rate {sum(sucesses)/ len(sucesses)}")
logging.info(f"success rate {sum(sucesses) / len(sucesses)}")
lerobot/scripts/server/network_utils.py
+2 -2
View File
@@ -41,7 +41,7 @@ def send_bytes_in_chunks(
logging_method = logging.info if not silent else logging.debug
logging_method(f"{log_prefix} Buffer size {size_in_bytes/1024/1024} MB with")
logging_method(f"{log_prefix} Buffer size {size_in_bytes / 1024 / 1024} MB with")
while sent_bytes < size_in_bytes:
transfer_state = hilserl_pb2.TransferState.TRANSFER_MIDDLE
@@ -60,7 +60,7 @@ def send_bytes_in_chunks(
f"{log_prefix} Sent {sent_bytes}/{size_in_bytes} bytes with state {transfer_state}"
)
logging_method(f"{log_prefix} Published {sent_bytes/1024/1024} MB")
logging_method(f"{log_prefix} Published {sent_bytes / 1024 / 1024} MB")
def receive_bytes_in_chunks(